/* 
 * (c) 2009 Rafael Paz <rpaz@atc.us.es>
 *
 *************
 *
 *	This file is part of IKARUS_OSD.
 *
 *  FPVOSD is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  FPVOSD is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with IKARUS_OSD.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "c8051f340.h"
#include "Telemetry.h"
#include "ParserNMEA.h"
#include "Ikarus.h"
#include "Navigation.h"

extern xdata struct GPSInfo gpsinfo;
extern xdata struct IkarusInfo ikarusInfo; 
extern code struct StoredConfig storedConfig;

extern xdata char pkt_index;
xdata struct Telemetry_PKT pkt;

xdata int framecounter=0;

int scanline=0;

bit vsync=0;

code const unsigned char CRCTable[256]={
        0x00, 0x31, 0x62, 0x53, 0xC4, 0xF5, 0xA6, 0x97,
        0xB9, 0x88, 0xDB, 0xEA, 0x7D, 0x4C, 0x1F, 0x2E,
        0x43, 0x72, 0x21, 0x10, 0x87, 0xB6, 0xE5, 0xD4,
        0xFA, 0xCB, 0x98, 0xA9, 0x3E, 0x0F, 0x5C, 0x6D,
        0x86, 0xB7, 0xE4, 0xD5, 0x42, 0x73, 0x20, 0x11,
        0x3F, 0x0E, 0x5D, 0x6C, 0xFB, 0xCA, 0x99, 0xA8,
        0xC5, 0xF4, 0xA7, 0x96, 0x01, 0x30, 0x63, 0x52,
        0x7C, 0x4D, 0x1E, 0x2F, 0xB8, 0x89, 0xDA, 0xEB,
        0x3D, 0x0C, 0x5F, 0x6E, 0xF9, 0xC8, 0x9B, 0xAA,
        0x84, 0xB5, 0xE6, 0xD7, 0x40, 0x71, 0x22, 0x13,
        0x7E, 0x4F, 0x1C, 0x2D, 0xBA, 0x8B, 0xD8, 0xE9,
        0xC7, 0xF6, 0xA5, 0x94, 0x03, 0x32, 0x61, 0x50,
        0xBB, 0x8A, 0xD9, 0xE8, 0x7F, 0x4E, 0x1D, 0x2C,
        0x02, 0x33, 0x60, 0x51, 0xC6, 0xF7, 0xA4, 0x95,
        0xF8, 0xC9, 0x9A, 0xAB, 0x3C, 0x0D, 0x5E, 0x6F,
        0x41, 0x70, 0x23, 0x12, 0x85, 0xB4, 0xE7, 0xD6,
        0x7A, 0x4B, 0x18, 0x29, 0xBE, 0x8F, 0xDC, 0xED,
        0xC3, 0xF2, 0xA1, 0x90, 0x07, 0x36, 0x65, 0x54,
        0x39, 0x08, 0x5B, 0x6A, 0xFD, 0xCC, 0x9F, 0xAE,
        0x80, 0xB1, 0xE2, 0xD3, 0x44, 0x75, 0x26, 0x17,
        0xFC, 0xCD, 0x9E, 0xAF, 0x38, 0x09, 0x5A, 0x6B,
        0x45, 0x74, 0x27, 0x16, 0x81, 0xB0, 0xE3, 0xD2,
        0xBF, 0x8E, 0xDD, 0xEC, 0x7B, 0x4A, 0x19, 0x28,
        0x06, 0x37, 0x64, 0x55, 0xC2, 0xF3, 0xA0, 0x91,
        0x47, 0x76, 0x25, 0x14, 0x83, 0xB2, 0xE1, 0xD0,
        0xFE, 0xCF, 0x9C, 0xAD, 0x3A, 0x0B, 0x58, 0x69,
        0x04, 0x35, 0x66, 0x57, 0xC0, 0xF1, 0xA2, 0x93,
        0xBD, 0x8C, 0xDF, 0xEE, 0x79, 0x48, 0x1B, 0x2A,
        0xC1, 0xF0, 0xA3, 0x92, 0x05, 0x34, 0x67, 0x56,
        0x78, 0x49, 0x1A, 0x2B, 0xBC, 0x8D, 0xDE, 0xEF,
        0x82, 0xB3, 0xE0, 0xD1, 0x46, 0x77, 0x24, 0x15,
        0x3B, 0x0A, 0x59, 0x68, 0xFF, 0xCE, 0x9D, 0xAC
    };

void BuildTelemetryPKT()
{
	pkt.len=sizeof(struct Telemetry_PKT);
	pkt.lon=gpsinfo.lon;
	pkt.lat=gpsinfo.lat;
	pkt.alt=(int)gpsinfo.alt_filter;
	pkt.rumbo=(unsigned char)(gpsinfo.rumbo*256/360);
	pkt.knots=(unsigned char)gpsinfo.knots_filtered;
	pkt.vertSpeed=(char)ikarusInfo.verticalSpeed;
	
	pkt.wptID=GetIndex();
	pkt.homeLon = GetLonDst(); 
	pkt.homeLat = GetLatDst(); 
	pkt.v1=(unsigned char)(ikarusInfo.v1*10);
	pkt.v2=(unsigned char)(ikarusInfo.v2*10);
	pkt.pitch=(char)(ikarusInfo.Pitch*127/180);	
	pkt.roll=(char)(ikarusInfo.Roll*127/180);	
	pkt.RSSI=(unsigned char) ikarusInfo.RSSI;

	ComputeTelemetryCRC((char*)&pkt);
}

void ComputeTelemetryCRC(char *ppkt)
{
    unsigned char crc = 0;
	int i;
    for (i = 0; i < ppkt[0]-1; i++)
    {
        crc = CRCTable[(crc ^ ppkt[i]) & 0xFF];
    }
	ppkt[ppkt[0]-1]=crc;
}

/*
void ComputeTelemetryCRC_nt(char *ppkt)
{
    const unsigned char POLY = 0x31;// 0x8c;
	unsigned char i,j,crc=0;

	for(i=0;i<pkt.len-1;i++)
	{
    	crc = crc ^ ppkt[i];
	    for (j = 8; j > 0; j--)
	    {
	        crc = ((crc & 0x80) != 0) ? (crc<< 1) ^ POLY : crc << 1;
	    }
	}
    ppkt[pkt.len-1]=crc;
}
*/

void InitXBEE_tx() large
{
	pkt_index=1;
	SBUF0='A';
}

void VerticalTelemetry(unsigned char linea)
{
	code const unsigned char mbit[]={0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80};

	int i;
	char *ppkt=(char*)&pkt;
	unsigned char pbyte, pbit;
	bit next;

	pbit=linea&0x7;
	pbyte=linea>>3;
	next=ppkt[pbyte]&mbit[pbit];

	P1MDOUT|=0x01;
	TELEMETRY=next;
	for(i=0;i<5;i++);
	P1MDOUT&=0xFE;
	TELEMETRY=1;
}

void SyncV_handle() interrupt 2
{
	vsync=1;	
	scanline=0;
	framecounter++;
	IE1=0;

}

void SyncH_handle() interrupt 0
{
	register char firstline=storedConfig.line_telemetry;
	EA=0;
	scanline++;
	if(storedConfig.TelemetryMode==1)
	{
		if(scanline>=firstline&&scanline<firstline+sizeof(struct Telemetry_PKT)*8)
		{
			VerticalTelemetry(scanline-firstline);
		}
	}
	EA=1;
	IE0=0;
}


